OpenRaiser/Intern-Atlas huggingface dataset:
Autonomous Vehicles an overview on system, cyber security, risks, issues, and a way forward
Venue: arXiv cs.CE 2023
Year: 2023

This chapter explores the complex realm of autonomous cars, analyzing their fundamental components and operational characteristics. The initial phase of the discussion is elucidating the internal mechanics of these automobiles, encompassing the crucial involvement of sensors, artificial intelligence (AI) identification systems, control mechanisms, and their integration with cloud-based servers within the framework of the Internet of Things (IoT). It delves into practical implementations of autonomous cars, emphasizing their utilization in forecasting traffic patterns and transforming the dynamics of transportation. The text also explores the topic of Robotic Process Automation (RPA), illustrating the impact of autonomous cars on different businesses through the automation of tasks. The primary focus of this investigation lies in the realm of cybersecurity, specifically in the context of autonomous vehicles. A comprehensive analysis will be conducted to explore various risk management solutions aimed at protecting these vehicles from potential threats including ethical, environmental, legal, professional, and social dimensions, offering a comprehensive perspective on their societal implications. A strategic plan for addressing the challenges and proposing strategies for effectively traversing the complex terrain of autonomous car systems, cybersecurity, hazards, and other concerns are some resources for acquiring an understanding of the intricate realm of autonomous cars and their ramifications in contemporary society, supported by a comprehensive compilation of resources for additional investigation. Keywords: RPA, Cyber Security, AV, Risk, Smart Cars
Accelerating Machine Learning Algorithms with Adaptive Sampling
Venue: arXiv cs.LG 2023
Year: 2023

The era of huge data necessitates highly efficient machine learning algorithms. Many common machine learning algorithms, however, rely on computationally intensive subroutines that are prohibitively expensive on large datasets. Oftentimes, existing techniques subsample the data or use other methods to improve computational efficiency, at the expense of incurring some approximation error. This thesis demonstrates that it is often sufficient, instead, to substitute computationally intensive subroutines with a special kind of randomized counterparts that results in almost no degradation in quality.
Learning to Abstain From Uninformative Data
Venue: arXiv cs.LG 2023
Year: 2023

Learning and decision-making in domains with naturally high noise-to-signal ratio, such as Finance or Healthcare, is often challenging, while the stakes are very high. In this paper, we study the problem of learning and acting under a general noisy generative process. In this problem, the data distribution has a significant proportion of uninformative samples with high noise in the label, while part of the data contains useful information represented by low label noise. This dichotomy is present during both training and inference, which requires the proper handling of uninformative data during both training and testing. We propose a novel approach to learning under these conditions via a loss inspired by the selective learning theory. By minimizing this loss, the model is guaranteed to make a near-optimal decision by distinguishing informative data from uninformative data and making predictions. We build upon the strength of our theoretical guarantees by describing an iterative algorithm, which jointly optimizes both a predictor and a selector, and evaluates its empirical performance in a variety of settings.
Enhancing data efficiency in reinforcement learning: a novel imagination mechanism based on mesh information propagation
Venue: arXiv cs.LG 2023
Year: 2023

Reinforcement learning(RL) algorithms face the challenge of limited data efficiency, particularly when dealing with high-dimensional state spaces and large-scale problems. Most of RL methods often rely solely on state transition information within the same episode when updating the agent's Critic, which can lead to low data efficiency and sub-optimal training time consumption. Inspired by human-like analogical reasoning abilities, we introduce a novel mesh information propagation mechanism, termed the 'Imagination Mechanism (IM)', designed to significantly enhance the data efficiency of RL algorithms. Specifically, IM enables information generated by a single sample to be effectively broadcasted to different states across episodes, instead of simply transmitting in the same episode. This capability enhances the model's comprehension of state interdependencies and facilitates more efficient learning of limited sample information. To promote versatility, we extend the IM to function as a plug-and-play module that can be seamlessly and fluidly integrated into other widely adopted RL algorithms. Our experiments demonstrate that IM consistently boosts four mainstream SOTA RL algorithms, such as SAC, PPO, DDPG, and DQN, by a considerable margin, ultimately leading to superior performance than before across various tasks. For access to our code and data, please visit https://github.com/OuAzusaKou/imagination_mechanism
OmniEvent: A Comprehensive, Fair, and Easy-to-Use Toolkit for Event Understanding
Venue: arXiv cs.CL 2023
Year: 2023

Event understanding aims at understanding the content and relationship of events within texts, which covers multiple complicated information extraction tasks: event detection, event argument extraction, and event relation extraction. To facilitate related research and application, we present an event understanding toolkit OmniEvent, which features three desiderata: (1) Comprehensive. OmniEvent supports mainstream modeling paradigms of all the event understanding tasks and the processing of 15 widely-used English and Chinese datasets. (2) Fair. OmniEvent carefully handles the inconspicuous evaluation pitfalls reported in Peng et al. (2023), which ensures fair comparisons between different models. (3) Easy-to-use. OmniEvent is designed to be easily used by users with varying needs. We provide off-the-shelf models that can be directly deployed as web services. The modular framework also enables users to easily implement and evaluate new event understanding models with OmniEvent. The toolkit (https://github.com/THU-KEG/OmniEvent) is publicly released along with the demonstration website and video (https://omnievent.xlore.cn/).
ECN with QUIC: Challenges in the Wild
Venue: arXiv cs.NI 2023
Year: 2023

TCP and QUIC can both leverage ECN to avoid congestion loss and its retransmission overhead. However, both protocols require support of their remote endpoints and it took two decades since the initial standardization of ECN for TCP to reach 80% ECN support and more in the wild. In contrast, the QUIC standard mandates ECN support, but there are notable ambiguities that make it unclear if and how ECN can actually be used with QUIC on the Internet. Hence, in this paper, we analyze ECN support with QUIC in the wild: We conduct repeated measurements on more than 180M domains to identify HTTP/3 websites and analyze the underlying QUIC connections w.r.t. ECN support. We only find 20% of QUIC hosts, providing 6% of HTTP/3 websites, to mirror client ECN codepoints. Yet, mirroring ECN is only half of what is required for ECN with QUIC, as QUIC validates mirrored ECN codepoints to detect network impairments: We observe that less than 2% of QUIC hosts, providing less than 0.3% of HTTP/3 websites, pass this validation. We identify possible root causes in content providers not supporting ECN via QUIC and network impairments hindering ECN. We thus also characterize ECN with QUIC distributedly to traverse other paths and discuss our results w.r.t. QUIC and ECN innovations beyond QUIC.
Calibration-based Dual Prototypical Contrastive Learning Approach for Domain Generalization Semantic Segmentation
Venue: arXiv cs.CV 2023
Year: 2023

Prototypical contrastive learning (PCL) has been widely used to learn class-wise domain-invariant features recently. These methods are based on the assumption that the prototypes, which are represented as the central value of the same class in a certain domain, are domain-invariant. Since the prototypes of different domains have discrepancies as well, the class-wise domain-invariant features learned from the source domain by PCL need to be aligned with the prototypes of other domains simultaneously. However, the prototypes of the same class in different domains may be different while the prototypes of different classes may be similar, which may affect the learning of class-wise domain-invariant features. Based on these observations, a calibration-based dual prototypical contrastive learning (CDPCL) approach is proposed to reduce the domain discrepancy between the learned class-wise features and the prototypes of different domains for domain generalization semantic segmentation. It contains an uncertainty-guided PCL (UPCL) and a hard-weighted PCL (HPCL). Since the domain discrepancies of the prototypes of different classes may be different, we propose an uncertainty probability matrix to represent the domain discrepancies of the prototypes of all the classes. The UPCL estimates the uncertainty probability matrix to calibrate the weights of the prototypes during the PCL. Moreover, considering that the prototypes of different classes may be similar in some circumstances, which means these prototypes are hard-aligned, the HPCL is proposed to generate a hard-weighted matrix to calibrate the weights of the hard-aligned prototypes during the PCL. Extensive experiments demonstrate that our approach achieves superior performance over current approaches on domain generalization semantic segmentation tasks.
NAS-NeRF: Generative Neural Architecture Search for Neural Radiance Fields
Venue: arXiv cs.CV 2023
Year: 2023

Neural radiance fields (NeRFs) enable high-quality novel view synthesis, but their high computational complexity limits deployability. While existing neural-based solutions strive for efficiency, they use one-size-fits-all architectures regardless of scene complexity. The same architecture may be unnecessarily large for simple scenes but insufficient for complex ones. Thus, there is a need to dynamically optimize the neural network component of NeRFs to achieve a balance between computational complexity and specific targets for synthesis quality. We introduce NAS-NeRF, a generative neural architecture search strategy that generates compact, scene-specialized NeRF architectures by balancing architecture complexity and target synthesis quality metrics. Our method incorporates constraints on target metrics and budgets to guide the search towards architectures tailored for each scene. Experiments on the Blender synthetic dataset show the proposed NAS-NeRF can generate architectures up to 5.74$\times$ smaller, with 4.19$\times$ fewer FLOPs, and 1.93$\times$ faster on a GPU than baseline NeRFs, without suffering a drop in SSIM. Furthermore, we illustrate that NAS-NeRF can also achieve architectures up to 23$\times$ smaller, with 22$\times$ fewer FLOPs, and 4.7$\times$ faster than baseline NeRFs with only a 5.3% average SSIM drop. Our source code is also made publicly available at https://saeejithnair.github.io/NAS-NeRF.
Parallelizing a 1-Dim Nagel-Schreckenberg Traffic Model
Venue: arXiv cs.DC 2023
Year: 2023

The Nagel-Schreckenberg model is a stochastic one-dimensional traffic model. In this assignment, we guide students through the process of implementing a shared-memory parallel and reproducible version of an existing serial code that implements this model, and to analyze its scaling behavior. One of the key elements in this traffic model is the presence of randomness, without which it would lack realistic phenomena such as traffic jams. Its implementation thus requires techniques associated with Monte Carlo simulations and pseudo-random number generation (PRNG). PRNGs are notoriously tricky to deal with in parallel when combined with the requirement of reproducibility. This assignment was created for the graduate course PHY1610 Scientific Computing for Physicists at the University of Toronto, which had its origin in the training program of the SciNet HPC Consortium, and is also very suitable for other scientific disciplines. Several variations of the assignment have been used over the years.
MUTEX: Learning Unified Policies from Multimodal Task Specifications
Venue: arXiv cs.RO 2023
Year: 2023

Humans use different modalities, such as speech, text, images, videos, etc., to communicate their intent and goals with teammates. For robots to become better assistants, we aim to endow them with the ability to follow instructions and understand tasks specified by their human partners. Most robotic policy learning methods have focused on one single modality of task specification while ignoring the rich cross-modal information. We present MUTEX, a unified approach to policy learning from multimodal task specifications. It trains a transformer-based architecture to facilitate cross-modal reasoning, combining masked modeling and cross-modal matching objectives in a two-stage training procedure. After training, MUTEX can follow a task specification in any of the six learned modalities (video demonstrations, goal images, text goal descriptions, text instructions, speech goal descriptions, and speech instructions) or a combination of them. We systematically evaluate the benefits of MUTEX in a newly designed dataset with 100 tasks in simulation and 50 tasks in the real world, annotated with multiple instances of task specifications in different modalities, and observe improved performance over methods trained specifically for any single modality. More information at https://ut-austin-rpl.github.io/MUTEX/
Tasks Makyth Models: Machine Learning Assisted Surrogates for Tipping Points
Venue: arXiv cs.LG 2023
Year: 2023

We present a machine learning (ML)-assisted framework bridging manifold learning, neural networks, Gaussian processes, and Equation-Free multiscale modeling, for (a) detecting tipping points in the emergent behavior of complex systems, and (b) characterizing probabilities of rare events (here, catastrophic shifts) near them. Our illustrative example is an event-driven, stochastic agent-based model (ABM) describing the mimetic behavior of traders in a simple financial market. Given high-dimensional spatiotemporal data -- generated by the stochastic ABM -- we construct reduced-order models for the emergent dynamics at different scales: (a) mesoscopic Integro-Partial Differential Equations (IPDEs); and (b) mean-field-type Stochastic Differential Equations (SDEs) embedded in a low-dimensional latent space, targeted to the neighborhood of the tipping point. We contrast the uses of the different models and the effort involved in learning them.
PopBERT. Detecting populism and its host ideologies in the German Bundestag
Venue: arXiv cs.CL 2023
Year: 2023

The rise of populism concerns many political scientists and practitioners, yet the detection of its underlying language remains fragmentary. This paper aims to provide a reliable, valid, and scalable approach to measure populist stances. For that purpose, we created an annotated dataset based on parliamentary speeches of the German Bundestag (2013 to 2021). Following the ideational definition of populism, we label moralizing references to the virtuous people or the corrupt elite as core dimensions of populist language. To identify, in addition, how the thin ideology of populism is thickened, we annotate how populist statements are attached to left-wing or right-wing host ideologies. We then train a transformer-based model (PopBERT) as a multilabel classifier to detect and quantify each dimension. A battery of validation checks reveals that the model has a strong predictive accuracy, provides high qualitative face validity, matches party rankings of expert surveys, and detects out-of-sample text snippets correctly. PopBERT enables dynamic analyses of how German-speaking politicians and parties use populist language as a strategic device. Furthermore, the annotator-level data may also be applied in cross-domain applications or to develop related classifiers.
Exploring Robot Morphology Spaces through Breadth-First Search and Random Query
Venue: arXiv cs.RO 2023
Year: 2023

Evolutionary robotics offers a powerful framework for designing and evolving robot morphologies, particularly in the context of modular robots. However, the role of query mechanisms during the genotype-to-phenotype mapping process has been largely overlooked. This research addresses this gap by conducting a comparative analysis of query mechanisms in the brain-body co-evolution of modular robots. Using two different query mechanisms, Breadth-First Search (BFS) and Random Query, within the context of evolving robot morphologies using CPPNs and robot controllers using tensors, and testing them in two evolutionary frameworks, Lamarckian and Darwinian systems, this study investigates their influence on evolutionary outcomes and performance. The findings demonstrate the impact of the two query mechanisms on the evolution and performance of modular robot bodies, including morphological intelligence, diversity, and morphological traits. This study suggests that BFS is both more effective and efficient in producing highly performing robots. It also reveals that initially, robot diversity was higher with BFS compared to Random Query, but in the Lamarckian system, it declines faster, converging to superior designs, while in the Darwinian system, BFS led to higher end-process diversity.
Implicit Sensing in Traffic Optimization: Advanced Deep Reinforcement Learning Techniques
Venue: arXiv cs.LG 2023
Year: 2023

A sudden roadblock on highways due to many reasons such as road maintenance, accidents, and car repair is a common situation we encounter almost daily. Autonomous Vehicles (AVs) equipped with sensors that can acquire vehicle dynamics such as speed, acceleration, and location can make intelligent decisions to change lanes before reaching a roadblock. A number of literature studies have examined car-following models and lane-changing models. However, only a few studies proposed an integrated car-following and lane-changing model, which has the potential to model practical driving maneuvers. Hence, in this paper, we present an integrated car-following and lane-changing decision-control system based on Deep Reinforcement Learning (DRL) to address this issue. Specifically, we consider a scenario where sudden construction work will be carried out along a highway. We model the scenario as a Markov Decision Process (MDP) and employ the well-known DQN algorithm to train the RL agent to make the appropriate decision accordingly (i.e., either stay in the same lane or change lanes). To overcome the delay and computational requirement of DRL algorithms, we adopt an MEC-assisted architecture where the RL agents are trained on MEC servers. We utilize the highly reputable SUMO simulator and OPENAI GYM to evaluate the performance of the proposed model under two policies; ε-greedy policy and Boltzmann policy. The results unequivocally demonstrate that the DQN agent trained using the ε-greedy policy significantly outperforms the one trained with the Boltzmann policy.
Predicting environment effects on breast cancer by implementing machine learning
Venue: arXiv cs.LG 2023
Year: 2023

The biggest Breast cancer is increasingly a major factor in female fatalities, overtaking heart disease. While genetic factors are important in the growth of breast cancer, new research indicates that environmental factors also play a substantial role in its occurrence and progression. The literature on the various environmental factors that may affect breast cancer risk, incidence, and outcomes is thoroughly reviewed in this study report. The study starts by looking at how lifestyle decisions, such as eating habits, exercise routines, and alcohol consumption, may affect hormonal imbalances and inflammation, two important factors driving the development of breast cancer. Additionally, it explores the part played by environmental contaminants such pesticides, endocrine-disrupting chemicals (EDCs), and industrial emissions, all of which have been linked to a higher risk of developing breast cancer due to their interference with hormone signaling and DNA damage. Algorithms for machine learning are used to express predictions. Logistic Regression, Random Forest, KNN Algorithm, SVC and extra tree classifier. Metrics including the confusion matrix correlation coefficient, F1-score, Precision, Recall, and ROC curve were used to evaluate the models. The best accuracy among all the classifiers is Random Forest with 0.91% accuracy and ROC curve 0.901% of Logistic Regression. The accuracy of the multiple algorithms for machine learning utilized in this research was good, which is important and indicates that these techniques could serve as replacement forecasting techniques in breast cancer survival analysis, notably in the Asia region.
DECORAIT -- DECentralized Opt-in/out Registry for AI Training
Venue: arXiv cs.CR 2023
Year: 2023

We present DECORAIT; a decentralized registry through which content creators may assert their right to opt in or out of AI training as well as receive reward for their contributions. Generative AI (GenAI) enables images to be synthesized using AI models trained on vast amounts of data scraped from public sources. Model and content creators who may wish to share their work openly without sanctioning its use for training are thus presented with a data governance challenge. Further, establishing the provenance of GenAI training data is important to creatives to ensure fair recognition and reward for their such use. We report a prototype of DECORAIT, which explores hierarchical clustering and a combination of on/off-chain storage to create a scalable decentralized registry to trace the provenance of GenAI training data in order to determine training consent and reward creatives who contribute that data. DECORAIT combines distributed ledger technology (DLT) with visual fingerprinting, leveraging the emerging C2PA (Coalition for Content Provenance and Authenticity) standard to create a secure, open registry through which creatives may express consent and data ownership for GenAI.
Self-Recovery Prompting: Promptable General Purpose Service Robot System with Foundation Models and Self-Recovery
Venue: arXiv cs.RO 2023
Year: 2023

A general-purpose service robot (GPSR), which can execute diverse tasks in various environments, requires a system with high generalizability and adaptability to tasks and environments. In this paper, we first developed a top-level GPSR system for worldwide competition (RoboCup@Home 2023) based on multiple foundation models. This system is both generalizable to variations and adaptive by prompting each model. Then, by analyzing the performance of the developed system, we found three types of failure in more realistic GPSR application settings: insufficient information, incorrect plan generation, and plan execution failure. We then propose the self-recovery prompting pipeline, which explores the necessary information and modifies its prompts to recover from failure. We experimentally confirm that the system with the self-recovery mechanism can accomplish tasks by resolving various failure cases. Supplementary videos are available at https://sites.google.com/view/srgpsr .